The Orocos Toolchain developers are content to announce the 2.6 release cycle of the Orocos Toolchain. As in the previous release cycle, the emphasis is on stability, incremental development and stable API's. The major additions in this release are:
- stable typekits: we can now load typekits from all kinds of sources (hand written, ROS, yarp, typegen,...) without having conflicts in names or functionality
- RTT added a CIRCULAR_BUFFER connection policy: drops oldest sample instead of newest
- Revamped OCL reporter with NetCDF support: reporting is now about 100-1000 times faster / less cpu intensive than before - and is compatible and more efficient with KST2
- Updated orogen component generation framework
- C++ runaway exceptions in operations are now caught by RTT and bring your component to the Exception state.
- Many updates to deployment: allow to connect provides() and requires() operations, have shutdown and daemon support.
- Improved tlsf, logging and corba support for rttlua
Under the hood, these changes make a difference too:
- We achieved hard real-time operation calls for rttlua-tlsf: due to stable typekits, we can now do typeinfo caching eliminating the last source of memory allocations and improving performance.
- We log PID/TID numbers on Linux systems when Activity objects are created, such that you can relate to them using 'top'.
- We mutex-lock the TypeInfoRepository to allow multi-threaded imports of typekits (typically in iTaSC / rttlua apps)
- We moved the component loader to RTT such that you don't need OCL to load components in applications.
Some more details can be found on the 2.6 Release notes here: http://www.orocos.org/stable/documentation/rtt/v2.6.x/doc-xml/orocos-rtt-changes.html
You can download this release using the bootstrap script on the website, or pointing your autoproj configuration to the toolchain-2.6 branch, or by fetching the ROS Fuerte Ubuntu packages.
Since the majority of the Orocos users uses one of these three methods, it remains to be seen if a 'dot' release will be made. I would only do so to communicate to newcomers that we do make bugfixes on a regular basis.
Thanks to the many Orocos users and developers who have contributed to this truely major release.
 adjective : satisfied with what one is or has; not wanting more or anything else.